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scp: Update repo references to Gitlab

Nicola Mazzucato requested to merge refs_gitlab into main

SCP-firmware repository has moved from GitHub to Gitlab (the Github instance is not accepting pull requests any longer).

Update URLs in the contributing and user_guide to point to the active Gitlab repository. Simplify descriptions at the same time for submitting changes.

Signed-off-by: Nicola Mazzucato Change-Id: I1417b4172c54ef0b4d40644416bd9e6995ee3079

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