Remove IllegalArgumentException for registration of capabilities

We threw an IllegalArgumentException for an invalid subscription,
however this is counter to what this exception should be used for.
Instead, use ImsException#CODE_ERROR_INVALID_SUBSCRIPTION.

Also fixed incorrect ImsException sent when telephony crashed.

Bug: 156402275
Test: atest FrameworksTelephonyTests; CtsTelephonyTestCases; manual
Change-Id: I3250419a2438afb58922ae653e3f2e4f9628e593