Thrut value for using mavros/setpoint_raw/attitude

Hi. everyone
I am trying to give only body rate and thrust command to drone by using mavros/setpoint_raw/attitude
This topic include thrust, but I don`t know unit of this value(is it m/s^2?) and how much will I give to.
I want to konw what is this value exact meaning and how this value processed to make throttle command.

And also, Is it possible control a drone just using body rate and thrust command?

Thank you.