Set the oven at 200C/ Gas 6. Put the sausages in a roasting tin large enough to take them in a single layer. If they overlap, they won't cook properly. In a bowl mix the mustards, honey and lemon juice. Stir well and pour over all the sausages. Bake for 25 -30 mins, rolling the sausages over in the honey and mustard mixture once or twice, so that they eventually take on a sticky, glossy coat.
To make the mash: trim and scrub the carrots, slice into chunks and pile into a steamer basket or metal colander balanced over a pan of simmering water. Steam, covered, for 15 -20 minutes or until just tender. Remove the carrots from the steamer and mash with a generous knob of butter. Divide the mash between 4 plates and pop the sausages on top.
Watch Nigel Slater's Simple Suppers on Wednesday's, 8.30-9.00pm on BBC ONE and BBC One HD.