docs: add v5.1 validator upgrade guide

[ryanchristo]

Description

Ref: #1855

This pull request adds a validator upgrade guide for v5.1.

Calculations: https://hackmd.io/KYpw8B01RUaeO-WsjE27tA

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Author Checklist

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please add links to any relevant follow up issues.

I have...

• included the correct type prefix in the PR title
• added ! to the type prefix if API or client breaking change
• targeted the correct branch (see PR Targeting)
• provided a link to the relevant issue or specification
• followed the guidelines for building modules
• included the necessary unit and integration tests
• added a changelog entry to CHANGELOG.md
• included comments for documenting Go code
• updated the relevant documentation or specification
• reviewed "Files changed" and left comments if necessary
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• confirmed the correct type prefix in the PR title
• confirmed ! in the type prefix if API or client breaking change
• confirmed all author checklist items have been addressed
• reviewed state machine logic
• reviewed API design and naming
• reviewed documentation is accurate
• reviewed tests and test coverage
• manually tested (if applicable)

[clevinson]

Checked this is the intended height via mintscan. Looks correct.

https://www.mintscan.io/regen/blocks/10068550