I did a very quick writeup of the FlatBuffers binary format. It is already document in Wouters FlatBuffers internals document, but in places there are implicit assumptions.
Also, the FlatCC verifier tool makes some hard rules that are not necessarily documented such that unions must only have a type field when the type is NONE.
In addition, Big Endian FlatBuffers and StreamBuffers are mentioned in passing.
This is a very rough document written in haste with lots of typos and lacking examples, but it wanted to get it down and refine on it later.
https://github.com/dvidelabs/flatcc/blob/master/doc/binary-format.md