pid1: add ./configure switch to select default cgroup hierarchy

pid1: add ./configure switch to select default cgroup hierarchy

The default default is set to "legacy", with "hybrid" and "unified"
being the other two alternatives.

There invert the behaviour for systemd.legacy_systemd_cgroup_controller:
if it is not specified on the kernel command line, "hybrid" is used if
selected as the default. If this option is specified, "hybrid" is used if false,
and full "legacy" if true.

Also make all fields in the configure summary lowercase (unless they are
capitalized names) for consistency.

v2:
- update for the fixed interpreation of systemd.legacy_systemd_cgroup_controller