linux-user: If loading fails, print error as string, not number

If the attempt to load the guest executable fails, print the
error message as a string, not a number. This requires us to
fix a couple of places in loader_exec() where we were returning
-1 instead of a valid negative errno.

The change allows us to drop the "Unknown binary format" message
because the strerror-enhanced message is now a more self-explanatory
"Error while loading $guest-binary: Exec format error".

Signed-off-by: Peter Maydell <peter.maydell@linaro.org>
Signed-off-by: Riku Voipio <riku.voipio@linaro.org>
