Add error handling for invalid/unknown parameter type

[medley56]

Handle Errors for Unsupported/Invalid Parameter Types

• Add error handling for unknown and invalid parameter type element during XTCE parsing

Checklist

• [x] Changes are fully implemented without dangling issues or TODO items
• [x] Deprecated/superseded code is removed or marked with deprecation warning
• [x] Current dependencies have been properly specified and old dependencies removed
• [ ] New code/functionality has accompanying tests and any old tests have been updated to match any new assumptions
• [x] The changelog.md has been updated

[medley56]

I want to get the testing right for this so I'm moving this PR to the 4.3.0 milestone so I can release 4.2.0