build: fix host menu config targets using ncurses

On a recent Gentoo Linux installation, invoking `make menuconfig`, `make
kernel_menuconfig` or `make kernel_nconfig` in the build system fails,
whereas for example `make menuconfig` in the kernel tree alone works as
expected.

This is happening because STAGING_PREFIX is not defined when kernel's
{menu,n}config target calls pkg-config from the toolchain/host and thus
pkg-config returns an empty value, and the fallback values in the kernel
config script are applied but those are off and the linking fails.

Solution is to use system's pkg-config for all ncurses based menu config
targets in order to provide proper compiler/linker flags.

Ref: FS#2423
Cc: Thomas Albers <thomas.gameiro@gmail.com>
Tested-by: Stijn Tintel <stijn@linux-ipv6.be>
Tested-by: Eneas U de Queiroz <cotequeiroz@gmail.com>
Signed-off-by: Petr Štetiar <ynezz@true.cz>
(cherry picked from commit 965f341aa9fdb6e07d509d02a6ca188af050292a)

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