Target heart rate?

I know there is a way to calculate your 'target' heart rate (besides 220 - your age x %) that takes into account your fitness level - or your resting heart rate...or something. Does anyone know how to do this? I have a heart rate monitor and am regularly working in the 85-90% of my 'supposed' maximum heart rate and wondering if I need to make some adjustments to my monitor. At an 85-90% heart rate that puts me at 160-170 beats per minute and I feel like I'm just barely getting warmed up! For example, if I try to walk outside, I have to jog/walk/jog, just to keep my heart rate up in the 120-130 range range. I also have a resting heart rate of 52-56...if that matters any. Anyone have any ideas? Thanks.

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