chan_pjsip: Ignore RTP that we haven't negotiated

If chan_pjsip receives an RTP packet whose payload differs from the
channel's native format, and asymmetric_rtp_codec is disabled (the
default), Asterisk will switch the channel's native format to match
that of the incoming packet without regard to the negotiated payloads.

We now check that the received frame is in a format we have negotiated
before switching payloads which results in these packets being dropped
instead of causing the session to terminate.

ASTERISK-28139 #close
Reported by: Paul Brooks

Change-Id: Icc3b85cee1772026cee5dc1b68459bf9431c14a3