selftests: mqueue: simplify the Makefile

Use make's implict rule for building simple C programs.

Suggested-by: Michael Ellerman <mpe@ellerman.id.au>
Signed-off-by: Bamvor Jian Zhang <bamvor.zhangjian@linaro.org>
Signed-off-by: Shuah Khan <shuahkh@osg.samsung.com>