#### Describe the bug
The irrelevant error returned when requesting illegal URL, like: "tel:484-695-3408"
```
TypeError: Cannot read property 'replace' of null
    at dispatchHttpRequest (node_modules/axios/lib/adapters/http.js:109:74)
    at new Promise (<anonymous>)
    at httpAdapter (node_modules/axios/lib/adapters/http.js:46:10)
    at dispatchRequest (node_modules/axios/lib/core/dispatchRequest.js:52:10)
```

#### To Reproduce
```js
axios.get('tel:484-695-3408').catch(err => console.error(err));
```

#### Expected behavior
Return descriptive error, like "Unsupported protocol tel:"

#### Environment
 - Axios Version: 0.21.1
 - Adapter: HTTP
 - Browser: none
 - Browser Version: none
 - Node.js Version: 12.19.0
 - OS: MacOS 10.14
 - Additional Library Versions: none

#### Additional context/Screenshots
none
lib/utils.js
return toString.call(val) === '[object FormData]';
}
/**
 * Determine if a value is a view on an ArrayBuffer
 *
 * @param {Object} val The value to test
 * @returns {boolean} True if value is a view on an ArrayBuffer, otherwise false
 */
function isArrayBufferView(val) {
  var result;
  if ((typeof ArrayBuffer !== 'undefined') && (ArrayBuffer.isView)) {
    result = ArrayBuffer.isView(val);
  } else {
    result = (val) && (val.buffer) && (isArrayBuffer(val.buffer));
  }
  return result;
}
/**
 * Determine if a value is a String
 *
 * @param {Object} val The value to test
 * @returns {boolean} True if value is a String, otherwise false
 */
function isString(val) {