Cooking Sausage

I have a constant problem cooking sausage. I don't know why, but it's annoying! They're either undercooked or burnt or too tough. So I found that this method works best.

Ingredients:
- Sausage (I almost always freeze mine and this recipe works fine on frozen)
- Olive oil

How to:
1- Lightly coat the pan with olive oil and set to medium heat.
2- Once hot, place the sausages in the pan. Brown each side (about a minute per).
3- Reduce heat to low, add about a half cup of water and cover.
4- Let cook for 10-15 minutes or to desired tenderness, rotating the sausages half way through. The water content should go down as well.
5- I cut mine in half to see if it's done.