It will only take a few minutes to cook. Being thawed out will help to cook it quicker. It takes no longer to cook then pork sausage. You do want to be sure that it is cooked fully, and has no pink in the middle.
Bacteria grows between 40-140 degrees fahrenheit. So thawing at room temp is bad idea. But in your case without a refrigerator your just gonna have to make sure you cook it thoroughly before consumption.