No experience on doing this type of vehicle frame corrosion repair.
But I've designed and specified plenty of steel structural repairs to buildings. The first step is to clean all of the scale off with mechanical or blast media. In my experience, once that's done everything looks worse.
Then if the steel section is still salvageable, it's just a matter of cutting out and doing a complete joint penetration welds or slapping supplemental steel (at least as thick as the base metal) and doing a fillet weld all around. Shoring structural members is necessary; in your case, that means supporting the frame so you don't unintentionally weld a sagged frame after you've cut metal out.
It also depends where the rust is and what kind of forces are there on area being repaired. I have no idea what that is on a truck frame, and it depends what part of the frame this is on, but if I had to this, I'd be generous on any thickness for any metal being retrofitted.
If the frame is Swiss cheese, may be better to do a frame swap, or replacing that single member with a good one.
Good luck.
Edit: it's pretty obvious, but if not, I was assuming you had welding experience, preferably welding in all positions, i.e., flat, vertical, and overhead and a good welder.