doc: CONTRIBUTE: use internal link instead of hardcoded external URL

This way we don't need to make sure this link still points to something
that exists, as Sphinx will enforce it at build time. It also has the
added benefit that if someone builds the docs they will point at their
docs (though that is debatable whether that's useful, but at least you
stay on the same website).

Signed-off-by: Quentin Schulz <[email protected]>
Reviewed-by: Simon Glass <[email protected]>
Reviewed-by: Tom Rini <[email protected]>

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