Ooh, format changed from unknown to ulaw

I did a:
tail -f /var/log/asterisk/full

And noticed the following just when there was an incoming call:

Oct 10 14:31:59 DEBUG[4601] rtp.c: Ooh, format changed from unknown to ulaw

Can I make the default setting to ulaw so that the system does not have to change the format from unknown to ulaw?

That is just a debug message, no need to worry about it, it does not mean anything is wrong. Asterisk has to negotiate what codec to use based on the other sides codec capabilities.