Merge mdarcy targets back into foster

Mdarcy was only split because mdarcy/sif would not boot a recovery
image that did not have a dtimage in the recovery-dtbo slot, while
foster would not boot an image that did have that. As of rel-shield-r,
cboot on foster_e models does ignore the recovery-dtbo slot, so there
is no longer a need for the mdarcy shim target.

Change-Id: If4ed56aad54883fc48be86247d2527316fc8f5b2

BoardConfig.mk

@@ -19,8 +19,8 @@ BOARD_BOOTIMAGE_PARTITION_SIZE     := 26738688
 BOARD_RECOVERYIMAGE_PARTITION_SIZE := 26767360
 BOARD_CACHEIMAGE_PARTITION_SIZE    := 268435456
 BOARD_USERDATAIMAGE_PARTITION_SIZE := 10099646976
-BOARD_SYSTEMIMAGE_PARTITION_SIZE   := 2147483648
-BOARD_VENDORIMAGE_PARTITION_SIZE   := 805306368
+BOARD_SYSTEMIMAGE_PARTITION_SIZE   := 1616904192
+BOARD_VENDORIMAGE_PARTITION_SIZE   := 268435456
 TARGET_USERIMAGES_USE_EXT4         := true
 BOARD_CACHEIMAGE_FILE_SYSTEM_TYPE  := ext4
 BOARD_VENDORIMAGE_FILE_SYSTEM_TYPE := ext4
@@ -28,7 +28,12 @@ TARGET_COPY_OUT_VENDOR             := vendor
 BOARD_BUILD_SYSTEM_ROOT_IMAGE      := true
 
 # Assert
-TARGET_OTA_ASSERT_DEVICE := foster,darcy,jetson,loki,icosa
+TARGET_OTA_ASSERT_DEVICE := foster,darcy,jetson,loki,icosa,mdarcy,sif
+
+# Boot image
+BOARD_CUSTOM_BOOTIMG    := true
+BOARD_CUSTOM_BOOTIMG_MK := device/nvidia/foster/mkbootimg.mk
+BOARD_MKBOOTIMG_ARGS    := --header_version 1
 
 # Bootloader versions
 TARGET_BOARD_INFO_FILE := device/nvidia/foster/board-info.txt