ERROR: could not insert 'g_hid': No such device
What kernel/branch was this targetting?
I have nothing to do with the beagleboard but I had the same issue with another board (I ended up on this page while looking for a solution).
The solution is written in the Linux kernel: http://lxr.free-electrons.com/source/Documentation/usb/gadget_hid.txt
Following your kernel version, you have either 1 or 2 solutions: