Change the error handling for invalid property values

ZFS recv should return a useful error message when an invalid index
property value is provided in the send stream properties nvlist

With a compression= property outside of the understood range:

Before:
```
receiving full stream of zof/zstd_send@send2 into testpool/recv@send2
internal error: Invalid argument
Aborted (core dumped)
```
Note: the recv completes successfully, the abort() is likely just to
make it easier to track the unexpected error code.

After:
```
receiving full stream of zof/zstd_send@send2 into testpool/recv@send2
cannot receive compression property on testpool/recv: invalid property
value received 28.9M stream in 1 seconds (28.9M/sec)
```

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Allan Jude <allan@klarasystems.com>
Closes #10631

module/zfs/zfs_ioctl.c

@@ -2591,7 +2591,8 @@ retry:
 				case PROP_TYPE_INDEX:
 					if (zfs_prop_index_to_string(prop,
 					    intval, &unused) != 0)
-						err = SET_ERROR(EINVAL);
+						err =
+						    SET_ERROR(ZFS_ERR_BADPROP);
 					break;
 				default:
 					cmn_err(CE_PANIC,