Check lighthouse config files and add lh config check

[evoggy]

Follow-up to #37.

Checking files

• Files are checked before connecting: the type, the version ('1', or '2' from earlier cfcli versions), and that the base station IDs and values are valid.
• Only Lighthouse V2 base stations are supported, so a file with systemType: 1 is refused. A missing systemType means V2, as in cflib.
• Base stations are written in ID order, so reading the same configuration twice gives the same file. Top-level fields cfcli doesn't know are kept.

Number of base stations
cfcli gets the number of base stations the firmware supports from the size of the lighthouse memory: 4 by default, up to 16 with CONFIG_DECK_LIGHTHOUSE_MAX_N_BS. Reads only go through those IDs. A write with IDs the firmware doesn't have is refused before anything is written.

lh config check
Compares the Crazyflie's configuration with a file (-i FILE or stdin), per base station:

• how far the geometry moved and turned
• whether the calibration belongs to another base station. The Crazyflie takes the calibration of a base station with another UID, so the geometry may need a new estimate.

It exits with the new exit code 60 (Differs) when they differ. --csv is supported.

BS | Geometry             | Calibration
---+----------------------+-------------------------------------------------------------------------
0  | not on the Crazyflie | other base station: 0x00BC614E in the file, 0xE8781C12 on the Crazyflie
1  | -                    | same

Testing

• Unit tests pass.
• On a Crazyflie over USB with firmware built for 4 base stations, lh config check was run with three files:
  • the file lh config read saved from it: exit 0
  • the same file with a geometry added and a UID changed: the differences were reported, exit 60
  • a file with base stations 4–7: reported as not supported by the firmware, exit 60